Par4: Very high speed parallel robot for pick-and-place

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URI: https://hdl.handle.net/11556/2307
ISBN: 0780389123
ISBN: 9780780389120
DOI: 10.1109/IROS.2005.1545143
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2005
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IEEE Computer Society
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Abstract
This paper introduces a four-degree-of-freedom parallel manipulator dedicated to pick-and-place. It has been developed with the goal of reaching very high speed. This paper shows that its architecture is particularly well adapted to high dynamics. Indeed, it is an evolution of Delta, H4 and 14 robots architectures: it keeps the advantages of these existing robots, while overcoming their drawbacks. In addition, an optimization method based on velocity using Adept Motion has been developed and applied to this high speed parallel robot. All these considerations led to experimentations that proved we can reach high accelerations (13 G) and obtain a cycle time of 0.28 s.
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Articulated traveling plate , Pick-and-place , PKM , Schonflies motion , Artificial Intelligence , Computer Vision and Pattern Recognition , Human-Computer Interaction , Control and Systems Engineering
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conference output
Citation
Nabat , V , De La O Rodriguez , M , Company , O , Krut , S & Pierrot , F 2005 , Par4 : Very high speed parallel robot for pick-and-place . in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS . , 1545143 , 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS , IEEE Computer Society , pp. 553-558 . https://doi.org/10.1109/IROS.2005.1545143